Which of these sentences has correct comma usage?
A. After going to the park the dog went home and napped on the soft warm carpet.
B. After going to the park, the dog went home and napped on the soft warm carpet.
C. After going to the park, the dog went home, and napped on the soft, warm carpet.
D. After going to the park, the dog went home and napped on the soft, warm carpet.